[ODE] dBodyAddForceAtPos

Jon Watte (ODE) hplus-ode at mindcontrol.org
Fri Mar 16 11:05:49 MST 2007

There is no difference between a box body and a sphere body except for 
the mass distribution.
What is the mass (or, rather, inertia tensor) of the sphere when "it 
doesn't work" ?

Also, adding a force that points straight towards/away from the center 
of gravity will add no torque.


          / h+

LR wrote:
> Hi,
> I've a question about dBodyAddForceAtPos:
> using dBodyAddForceAtPos on a box (box is centered to its body, body is centered
> on its joint axis), makes the box rotates around its joint axis. It seems the
> absolute force is decomposed to produce force AND torque ... (OK)
> Doing the same thing on a sphere does not produce any torque ...
> Is it notmal or i'm missing something ?
> Thank you for your help.
> LR
> (if my explains are not enaught, i can produce video )
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